EP2384969B1 - Simplified flight-control system comprising a disconnectable friction device - Google Patents

Simplified flight-control system comprising a disconnectable friction device Download PDF

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Publication number
EP2384969B1
EP2384969B1 EP11003320.6A EP11003320A EP2384969B1 EP 2384969 B1 EP2384969 B1 EP 2384969B1 EP 11003320 A EP11003320 A EP 11003320A EP 2384969 B1 EP2384969 B1 EP 2384969B1
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EP
European Patent Office
Prior art keywords
control
aircraft
friction
friction device
flight
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP11003320.6A
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German (de)
French (fr)
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EP2384969A3 (en
EP2384969A2 (en
Inventor
Pascal Leguay
Cédric Carlavan
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Airbus Helicopters SAS
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Airbus Helicopters SAS
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Publication date
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Publication of EP2384969A2 publication Critical patent/EP2384969A2/en
Publication of EP2384969A3 publication Critical patent/EP2384969A3/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
    • B64C13/02—Initiating means
    • B64C13/04—Initiating means actuated personally
    • B64C13/042—Initiating means actuated personally operated by hand
    • B64C13/0421—Initiating means actuated personally operated by hand control sticks for primary flight controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/54—Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement
    • B64C27/58—Transmitting means, e.g. interrelated with initiating means or means acting on blades
    • B64C27/59—Transmitting means, e.g. interrelated with initiating means or means acting on blades mechanical
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/06—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member for holding members in one or a limited number of definite positions only
    • G05G5/08—Interlocking of members, e.g. locking member in a particular position before or during the movement of another member
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/12—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member for holding members in an indefinite number of positions, e.g. by a toothed quadrant
    • G05G5/20—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member for holding members in an indefinite number of positions, e.g. by a toothed quadrant by locking a quadrant, rod, or the like carried by the member
    • G05G5/22—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member for holding members in an indefinite number of positions, e.g. by a toothed quadrant by locking a quadrant, rod, or the like carried by the member by friction
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T50/00—Aeronautics or air transport
    • Y02T50/40—Weight reduction

Definitions

  • the present invention relates to the general technical field of flight control systems, especially for aircraft and more generally for aircraft called planes, rotorcraft or helicopters.
  • the present invention more particularly relates to flight control systems capable of implementing automatic piloting functions. These control systems are intended for the adjustment of mobile attitude members of an airplane or rotorcraft-type aircraft, as a function of the actuation of control members acting on at least one flight control chain.
  • the flight control system according to the invention is for example intended for controlling a swashplate of a helicopter main rotor.
  • the movable members are constituted by hydraulic servocontrols, connected to the swashplate of the main rotor.
  • the actuation, for example by the pilot, of a cyclic stick acts on the inclination of the swashplate about two perpendicular axes.
  • the inclination of the swashplate then imposes an inclination of the attitude of the main rotor which depends on the angular displacement of the cyclic stick.
  • the roll and pitch flight control axes are preferably materialized by separate mechanical control chains, connecting the mobile attitude members to the cyclic stick.
  • Helicopter flight control chains can be equipped with stabilizing cylinders, called series cylinders, controlled by an autopilot system. These series cylinders are installed in series on the flight control chains and move the movable attitude members located downstream of the positions of said series cylinders. The displacements of the moving members must not, however, cause displacements of other members located on the flight control chains, for example the cyclic hoses, located upstream of the positions of said series cylinders.
  • a number of autopilot systems include parallel cylinders, called trim cylinders, installed in parallel flight control chains closer to the sleeves and / or pedals, which automatically correct the positions of moving parts. It is usually these trim cylinders that anchor the stabilizing cylinders.
  • the document FR 764 635 describes for example friction means for a cyclic flight control.
  • the friction means include two independent friction mechanisms on two separate control axes. Each friction mechanism has a control wheel. The adjustment wheel more or less tight against a slide makes it possible to define the frictional intensity of each friction mechanism independently.
  • the use of two friction mechanisms increases the number of parts and the onboard weight, which is a significant disadvantage for a helicopter type aircraft.
  • these friction means are generally adjusted once and for all during the initial assembly or during a revision and are then not accessible from the cockpit.
  • the document FR 2,678,577 mentions an exemplary embodiment in which the friction means use a hemispherical ball joint at the base of the cyclic handle.
  • the ball is used for pivoting of the cyclic handle and makes it possible to constitute the friction means.
  • the ball joint comprises a fixed friction cup integral with the floor of the aircraft, which is traversed by the handle and a friction cup connected to said handle. The latter is applied against the fixed cup.
  • a knurled knob surrounding the handle makes it possible to adjust the level of friction between the two cups.
  • the knurled knob makes it possible to modify the friction simultaneously on two control axes (roll and pitch).
  • these friction means has a number of disadvantages. These friction means are mechanically complex and often unreliable or not reproducible with precision in their adjustment. The adjustment of the friction means is also difficult to access for the co-pilot.
  • an autopilot system comprising amplitude limited authority series jacks.
  • a system of flight director gives the pilot information to refocus the series cylinders when they are close to their extreme extension and retraction.
  • a preset friction member is provided in an exemplary embodiment, to maintain the control stick in the position in which it was brought by the pilot.
  • the object of the present invention is therefore to provide a new flight control system does not have the disadvantages mentioned above, not degrading the comfort of handling flight controls for the pilot.
  • Another object of the present invention is to provide a new flight control system to stabilize the short-term and long-term steering, despite the absence of trim cylinders.
  • the present invention also aims to provide a new friction device to overcome the limitations mentioned above.
  • the present invention also aims to provide a new simplified autopilot system managing a flight control system while avoiding the limitations mentioned above.
  • the drive means comprise an electric motor driving in rotation a threaded shaft on which is mounted a nut integral with the contact piece, said nut being locked in rotation by means of a finger of fixed stop whose end is engaged transversely in said nut, so as to impose a displacement in translation of said nut in a guide sleeve under the effect of the rotation of the threaded shaft.
  • the contact piece comprises a hemispherical female gasket intended to bear against a male complement of hemispherical shape attached to the control member, to establish the friction.
  • the device according to the invention comprises compensating means for automatically compensating for the wear of the parts producing the friction.
  • the compensation means comprise on the one hand a lining support slidably mounted and locked in rotation on an end portion of the nut having a diameter smaller than the diameter of the liner.
  • the device according to the invention comprises limiting means for automatically limiting the friction force to a predetermined maximum friction threshold.
  • the limiting means comprise an oblong slot formed in the nut and in which is engaged the end of the fixed stop finger, thus limiting the travel in translation of the nut to a distance corresponding to the longitudinal dimension of the oblong slot and consequently limiting the compression of the spring.
  • the device according to the invention comprises means for adjusting the level of friction force.
  • control member is a cyclic stick of a rotorcraft of the helicopter type.
  • the manual control member is a cyclic stick and the mobile attitude member is a cyclic plateau, the control axes thus comprising the control axis in roll and the pitch control axis of the aircraft.
  • the flight control system comprises a spreader as a control member for acting on an anti-torque rotor, the control axes thus comprising at least the control axis. yaw of the aircraft.
  • the flight control system comprises a collective shaft as a control member for acting on the collective pitch of a main rotor, the control axes thus comprising at least one control axis of the collective pitch.
  • the flight control system comprises two cyclic sleeves interconnected by a pitch conjugation tube on which they are articulated, the friction device constituting an extension of one side of said tube rotary pitching unit mounted on a spar of the aircraft structure and the center of the hemispherical male lining coinciding with the point of intersection of the axis of said pitch coupling tube and the roll axis of rotation cyclic stick located on the same side.
  • the flight control system in accordance with the invention comprises means for adjusting the level of frictional force on at least one mechanical control chain, in order to optimize the driving comfort parameter, in particular the control chains. cyclic control.
  • the flight control system comprises means for increasing the stability of the aircraft.
  • the remote control means is a switch installed on a handle of the control member.
  • the friction force level adjustment means are associated with a remote adjustment member provided on the manual control member.
  • the manual control member is a cyclic handle, the control axes thus comprising the roll control axis and the pitch control axis.
  • the simplified automatic control system comprises a manual steering activity monitoring loop and automatic disengagement means of the friction device to disengage the friction device when a determined threshold of manual driving activity is achieved.
  • the objects assigned to the invention are also achieved using an aircraft of the genus rotorcraft or helicopter, comprising a flight control system as described above.
  • the objects assigned to the invention are also achieved using a rotorcraft or helicopter type aircraft comprising a simplified autopilot system as described above.
  • the friction device according to the invention has the advantage of being able to act simultaneously on the roll control chain and on the pitch control chain.
  • the friction device according to the invention thus has the advantage of providing a mass gain, compared to the use of a specific friction mechanism on each control line.
  • Another advantage of the friction device according to the invention lies in the fact that it is engageable / disengageable remotely and without effort on the part of the pilot.
  • Another advantage of the friction device according to the invention results from its small footprint, allowing easier integration into a flight control system of a rotorcraft.
  • the at least partial integration of the device with the pitch conjugation tube contributes substantially to this reduced space requirement.
  • a friction device according to the invention could be installed on aircraft in the fleet already in service and not only on new aircraft.
  • the friction device according to the invention has the advantage of having a low power consumption.
  • the friction device according to the invention also has the advantage of making up for the wear of the frictionally contacting parts, thereby increasing the longevity of said parts.
  • the friction device according to the invention also has the advantage of having a maximum level of friction. This maximum friction level is chosen so as to allow, in case of seizure of the device in the engaged position, the pilot to continue the flight in manual flight and to land safely.
  • An advantage of the simplified autopilot system according to the invention lies in the combination of the friction device and means increasing the stability of the rotorcraft. Short-term stabilization is thus complemented by long-term stabilization, even in the absence of trim cylinders.
  • An advantage of the flight control system according to the invention lies in the possibility of its use on flight control axes of the aircraft, with or without means for increasing stability.
  • any other type of aircraft such as a rotorcraft, may incorporate the present invention.
  • the figure 1 is a schematic illustration of an exemplary embodiment of a flight control system according to the invention and intended for a rotorcraft of the helicopter type.
  • the flight control system is intended for example for a rotorcraft comprising at least one main rotor.
  • the flight control system comprises a split manual control member 2 each acting on at least two control axes of the rotorcraft, namely the pitch axis T and the roll axis R.
  • a left control mechanical chain Crg and a mechanical right control chain Crd combined by a pivoting mechanism 7 and connect the control member 2 to a swash plate 3 of the main rotor via hydraulic servo 4 and 5 to control the roll.
  • the combination of the left control chains Crg and right Crd constitutes the control chain in roll Cr.
  • a mechanical pitch control chain Ct connects the control member 2, in this case a cyclic stick, to the cyclic plateau 3 via a complementary hydraulic servocontrol 6, thus ensuring pitch control.
  • the manual control member 2 is for example a cyclic stick acting on the control axes comprising the roll control axis and the pitch control axis.
  • the flight control system also comprises a spreader, not shown, as a complementary control member for acting on an anti-torque rotor, the control axes thus comprising an axis L.
  • the flight control system may also comprise a collective shaft 8 as a complementary control member for acting on the collective pitch of the main rotor, the control axes thus comprising a control axis in collective pitch.
  • the hydraulic servo-controls 4,5,6 act simultaneously and with the same amplitude.
  • a specific mechanical control chain Cc is provided for this purpose.
  • Other transmission and referral mechanisms of the flight control system are very widely known and are not further described herein.
  • the flight control system comprises two cyclic sleeves interconnected by a pitch conjugation tube 9 on which they are articulated.
  • a connecting rod 10 connecting the lower ends of the cyclic sleeves makes it possible to transmit the commands in roll from one handle to the other.
  • the flight control system comprises a friction device 11 constituting an extension pitch extension tube 9. This extension is rotatably mounted on a spar 12 of the structure of the rotorcraft.
  • the flight control system comprises means for adjusting the level of friction force, not shown, to optimize the driving comfort parameter including cyclic control chains.
  • the means for adjusting the level of frictional force are for example associated with a remote adjustment member provided on the cyclic handle.
  • the flight control system comprises means for increasing the stability of the rotorcraft.
  • the means for increasing the stability comprise an amplitude limited authority actuating means 13 connected in series on each control chain Cr, and Ct, so acting on the mobile attitude member, in particular the swashplate 3 according to a flight instruction.
  • amplitude-limited authority actuating means 13 are, for example, electric cylinders.
  • the flight control system in accordance with the invention also comprises a means for determining the amplitude margin of the amplitude-limited authority actuating means 13.
  • This means of determining the amplitude margin comprises, for example, one or several position sensors.
  • the flight control system also comprises an indicator informing the pilot when the amplitude margin is less than a determined value, for example 10% of the total stroke and indicating to the pilot the meaning of movement of the manual control member 2 to restore a margin of sufficient amplitude, said indicator thus providing long-term information attitude or trajectory control.
  • the flight control system also comprises means for restoring the amplitude margin while maintaining the positioning of the movable member, for example the swashplate 3.
  • the means for restoring the amplitude margin comprise for example a specific computer or a computer integrated in an autopilot system to automatically compensate for the restoration of the amplitude margin.
  • Sensors such as Hall effect sensors, make it possible to determine the displacement of the control member 2 and the amplitude of the limited-authority actuating means 13.
  • the means for restoring a margin of sufficient amplitude then control a moving in the opposite direction to the order from the control member 2 (shortening or elongation of the series cylinders) to not change the positioning of the movable attitude member.
  • the restoration of the amplitude margin corresponds for example to a refocusing of the series cylinders.
  • the friction device is activated and deactivated by means of a remote control means 14 of the switch type, installed on a handle 15 of the control member 2.
  • the figure 2 is a sectional illustration of an exemplary embodiment of the friction device according to the invention, associated with the control member 2 of the kind a cyclic stick of a helicopter, said friction device being in an engaged state and by therefore active.
  • the friction device comprises a contact piece 16 movable between a stable position disengaged and a stable position engaged and vice versa.
  • the stable position engaged corresponds to a position in which the contact piece 16 bears on the control member 2 so as to establish a determined friction force.
  • the contact piece 16 comprises a female lining 17 of hemispherical shape intended to bear on a male lining 18 of complementary hemispherical shape, fixed on the control member 2, to establish friction.
  • the center of the hemispherical male lining 18 coinciding with the point of intersection of the axis of said pitch conjugation tube 9 and the rolling axis of rotation 9a of the cyclic handle cooperating directly with the friction device 11.
  • the friction device comprises electromechanical drive means for moving the contact piece 16 between the two stable positions.
  • the remote control means 14 makes it possible to activate and deactivate the drive means.
  • the drive means comprise an electric motor 19 driving in rotation a threaded shaft 20 on which is mounted a nut 21 integral with the contact piece 16.
  • the nut 21 is locked in position. rotation by means of a stop finger 22, one end of which is engaged transversely in said nut 21, so as to impose a displacement in translation of said nut 21 in a guide jacket 23 under the effect of the rotation of the threaded shaft 20.
  • At least one fixing shaft 19a makes it possible to fix the electric motor 19 on the outer side of the spar 12. More specifically, the torque of the electric motor 19 is taken up by a support 19b clamped on the housing of the electric motor 19 and fixed on the spar 12 through at least one fixing shaft 19a.
  • the stop finger 22 is fixed on the spar 12 by means of a fixing plate 22a.
  • the rotational guidance of the pitch conjugation tube 9 in the spar 12 is provided by a bearing 24.
  • a thrust bearing 25 resumes the bearing force of the threaded shaft 20, which presses the contact piece 16 against the male lining 18.
  • the thrust bearing 25 is also stopped in translation by a cap 26, fixed on the end of the pitch conjugation tube 9.
  • the thrust bearing 25 is sandwiched between a shoulder 20a of the threaded shaft 20 and the cap 26.
  • the device according to the invention comprises compensating means for automatically compensating the friction-related wear of the female lining 17 on the male lining 18.
  • the compensation means comprise on the one hand a lining support 27 slidably mounted and locked in rotation on an end portion of the nut 21 having a diameter smaller than the diameter. of the complementary portion of said nut 21 and secondly a spring 28 mounted on the end portion of the nut 21 of smaller diameter, between the lining support 27 and a shoulder 21 made by the complementary portion of said nut 21.
  • the spring 28 is compressed when the friction is established.
  • a pin 29 passing through the lining support 27 and a longitudinal slot of the end portion of the nut 21 makes it possible to lock said lining support 27 in rotation.
  • the pin 29 has sufficient backlash to allow the spring 28 to push the lining support 27 against the male lining 18. It will be possible to refer to the figure 2 .
  • the nut 21 therefore drives the lining support 27 in translation through the spring 28. The contact between the male and female lining 17 is therefore maintained independently of the wear of said lining.
  • the device according to the invention comprises limiting means for automatically limiting the friction force to a predetermined maximum friction threshold.
  • the limiting means comprise an oblong slot 30 formed laterally in the body of the nut 21 and in which is engaged the end of the stop finger 22.
  • the longitudinal direction of the oblong slot 30 is parallel to the axis of the nut 21. This oblong slot 30 thus limits the travel in translation of the nut 21 at a distance corresponding to the longitudinal dimension of said oblong slot 30 and consequently limits the compression of the spring 28.
  • the device according to the invention comprises means for adjusting the level of friction force.
  • the electric motor 19 may be for this purpose a stepping motor to perform a precise adjustment of the compression of the spring 28.
  • the figure 3 is an illustration in section of an exemplary embodiment of a friction device according to the invention, associated to a cyclic stick of a helicopter, said friction device being in a disengaged state.
  • the figure 4 is for example an enlargement in external view of the elements represented in the figures 2 and 3 .
  • the female lining 17 is no longer in frictional contact with the male lining 18.
  • the electric motor 19 moves the nut 21 in translation over a sufficient stroke so that the spring 28 is less compressed. This stroke is determined by the longitudinal dimension of the oblong slot 30.
  • the packing support 27 is thus driven into the disengaged position by means of the pin 29 on which it bears while coming into abutment with the mechanical translational play.
  • the present invention also relates to a simplified autopilot system for a rotorcraft comprising at least one computer and software means for implementing management functions of the flight control system.
  • the simplified automatic control system comprises a manual steering activity monitoring loop and automatic disengagement means of the friction device when a determined threshold of manual steering activity is achieved.
  • the automatic control system comprises for example a displacement sensor on each cyclic control chain so as to have at each moment of information corresponding to the instantaneous position Pos of the cyclic stick.
  • the autopilot system then continuously calculates the average Posm position of the cyclic stick over a sliding period T.
  • Such a monitoring loop can also be provided on additional control members such as the collective handle 8 and / or the rudder.
  • the figure 5 represents an exemplary embodiment of a friction device 11 according to the invention, acting on the manual control member 2 of an aircraft.
  • the control member 2 embodied by a rotary shaft, acts for example on a single control axis of an aircraft or a helicopter. This may be for example the control axis of the collective pitch or the control axis of the rudder of a helicopter or an attitude control axis of an aircraft.
  • the contact piece 16 comes into friction with a rod system 31,32,33 of the manual control member 2 when the friction device 11 is engaged.
  • the friction device 11 and the connecting rod 31 against which the contact piece 16 abuts are immobilized in translation on a fixed structure portion 34 of the aircraft.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Mechanical Control Devices (AREA)
  • Pressure Welding/Diffusion-Bonding (AREA)
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Description

La présente invention se rapporte au domaine technique général des systèmes de commande de vol, notamment pour aéronefs et plus généralement pour des appareils appelés avions, giravions ou hélicoptères.The present invention relates to the general technical field of flight control systems, especially for aircraft and more generally for aircraft called planes, rotorcraft or helicopters.

La présente invention concerne plus particulièrement des systèmes de commandes de vol susceptibles de mettre en oeuvre des fonctionnalités d'un pilotage automatique. Ces systèmes de commandes sont destinés au réglage d'organes mobiles d'attitude d'un aéronef du genre avion ou giravion, en fonction de l'actionnement d'organes de commande agissant sur au moins une chaîne de commande de vol.The present invention more particularly relates to flight control systems capable of implementing automatic piloting functions. These control systems are intended for the adjustment of mobile attitude members of an airplane or rotorcraft-type aircraft, as a function of the actuation of control members acting on at least one flight control chain.

Le système de commandes de vol selon l'invention, est par exemple destiné à la commande d'un plateau cyclique d'un rotor principal d'hélicoptère. Dans un tel exemple, les organes mobiles sont constitués par des servocommandes hydrauliques, reliés au plateau cyclique du rotor principal. L'actionnement, par exemple par le pilote, d'un manche cyclique agit sur l'inclinaison du plateau cyclique autour de deux axes perpendiculaires. L'inclinaison du plateau cyclique impose alors une inclinaison de l'assiette du rotor principal qui dépend du déplacement angulaire du manche cyclique.The flight control system according to the invention is for example intended for controlling a swashplate of a helicopter main rotor. In such an example, the movable members are constituted by hydraulic servocontrols, connected to the swashplate of the main rotor. The actuation, for example by the pilot, of a cyclic stick acts on the inclination of the swashplate about two perpendicular axes. The inclination of the swashplate then imposes an inclination of the attitude of the main rotor which depends on the angular displacement of the cyclic stick.

De manière connue, le déplacement du manche cyclique de l'avant vers l'arrière ou inversement provoque un déplacement en tangage de l'aéronef et le déplacement du manche cyclique de la droite vers la gauche ou inversement provoque un déplacement en roulis de l'aéronef. Les déplacements en tangage et en roulis de l'aéronef sont ainsi générés par les basculements correspondants du rotor principal.In known manner, the movement of the cyclic stick from front to rear or vice versa causes a displacement in pitch of the aircraft and the displacement of the cyclic stick from the right to the left or vice versa causes a displacement in roll of the aircraft. The pitch and roll movements of the aircraft are thus generated by the corresponding tilts of the main rotor.

Les axes de commande de vol en roulis et en tangage sont de préférence matérialisés par des chaînes de commande mécaniques distinctes, reliant les organes mobiles d'attitude au manche cyclique.The roll and pitch flight control axes are preferably materialized by separate mechanical control chains, connecting the mobile attitude members to the cyclic stick.

Les chaînes de commande de vol d'hélicoptères peuvent être équipées de vérins de stabilisation, appelés vérins séries, pilotés par un système de pilotage automatique. Ces vérins séries sont installés en série sur les chaînes de commande de vol et déplacent les organes mobiles d'attitude situés en aval des positions desdits vérins séries. Les déplacements des organes mobiles ne doivent pas, en revanche provoquer des déplacements d'autres organes situés sur les chaînes de commande de vol, par exemple les manches cycliques, situés en amont des positions desdits vérins séries.Helicopter flight control chains can be equipped with stabilizing cylinders, called series cylinders, controlled by an autopilot system. These series cylinders are installed in series on the flight control chains and move the movable attitude members located downstream of the positions of said series cylinders. The displacements of the moving members must not, however, cause displacements of other members located on the flight control chains, for example the cyclic hoses, located upstream of the positions of said series cylinders.

Un certain nombre de systèmes de pilotage automatique comprennent des vérins parallèles, appelés vérins de trim, installés en parallèle des chaînes de commande de vol au plus près des manches et/ou des pédales, qui corrigent automatiquement les positions des organes mobiles. Ce sont en général ces vérins de trim qui assurent l'ancrage des vérins de stabilisation.A number of autopilot systems include parallel cylinders, called trim cylinders, installed in parallel flight control chains closer to the sleeves and / or pedals, which automatically correct the positions of moving parts. It is usually these trim cylinders that anchor the stabilizing cylinders.

Dans le cas d'un système de pilotage automatique simplifié ne comprenant pas de vérins de trim et consistant en une simple stabilisation sur deux axes, en tangage et en roulis, il est possible d'utiliser un mécanisme de friction sur les deux axes de commande cyclique en remplacement de l'ancrage des vérins de stabilisation.In the case of a simplified autopilot system which does not include trim cylinders and consists of a simple stabilization on two axes, in pitch and in roll, it is possible to use a friction mechanism on the two control shafts. cyclic replacing the anchorage of the stabilizing cylinders.

Le document FR 764 635 décrit par exemple des moyens de friction pour une commande de vol cyclique. Les moyens de friction comprennent deux mécanismes de friction indépendants sur deux axes de commandes distincts. Chaque mécanisme de friction comporte une molette de réglage. La molette de réglage plus ou moins serrée contre une glissière permet de définir l'intensité de friction de chaque mécanisme de friction de manière indépendante. L'utilisation de deux mécanismes de friction augmente le nombre de pièces et la masse embarquée, ce qui est un inconvénient non négligeable pour un aéronef du genre hélicoptère. De plus ces moyens de friction sont généralement réglés une fois pour toute lors de l'assemblage initial ou lors d'une révision et sont ensuite non accessibles du poste de pilotage.The document FR 764 635 describes for example friction means for a cyclic flight control. The friction means include two independent friction mechanisms on two separate control axes. Each friction mechanism has a control wheel. The adjustment wheel more or less tight against a slide makes it possible to define the frictional intensity of each friction mechanism independently. The use of two friction mechanisms increases the number of parts and the onboard weight, which is a significant disadvantage for a helicopter type aircraft. In addition, these friction means are generally adjusted once and for all during the initial assembly or during a revision and are then not accessible from the cockpit.

Le document FR 2 678 577 mentionne un exemple de réalisation dans lequel les moyens de friction utilisent une rotule hémisphérique à la base du manche cyclique. La rotule sert au pivotement du manche cyclique et permet de constituer les moyens de friction. La rotule comprend une coupelle de friction fixe solidaire du plancher de l'aéronef, laquelle est traversée par le manche ainsi qu'une coupelle de friction liée au dit manche. Cette dernière s'applique contre la coupelle fixe. Un bouton moleté entourant le manche permet de procéder au réglage du niveau de friction entre les deux coupelles. Le bouton moleté permet de modifier la friction simultanément sur deux axes de commande (roulis et tangage). Malgré ce réglage simplifié, ces moyens de friction présente un certain nombre d'inconvénients. Ces moyens de friction sont mécaniquement complexes et souvent peu fiables ou pas reproductibles avec précision au niveau de leur réglage. Le réglage des moyens de friction est par ailleurs difficilement accessible pour le copilote.The document FR 2,678,577 mentions an exemplary embodiment in which the friction means use a hemispherical ball joint at the base of the cyclic handle. The ball is used for pivoting of the cyclic handle and makes it possible to constitute the friction means. The ball joint comprises a fixed friction cup integral with the floor of the aircraft, which is traversed by the handle and a friction cup connected to said handle. The latter is applied against the fixed cup. A knurled knob surrounding the handle makes it possible to adjust the level of friction between the two cups. The knurled knob makes it possible to modify the friction simultaneously on two control axes (roll and pitch). Despite this simplified setting, these friction means has a number of disadvantages. These friction means are mechanically complex and often unreliable or not reproducible with precision in their adjustment. The adjustment of the friction means is also difficult to access for the co-pilot.

On connaît également, par l'intermédiaire du document FR 2 295 473 , qui est considéré comme l'art antérieur le plus proche et décrit les caractéristiques du préambule de la revendication 1, un système de pilotage automatique comprenant des vérins séries à autorité limitée en amplitude. Un système de directeur de vol donne au pilote des informations lui permettant de recentrer les vérins séries lorsqu'ils sont proches de leur extension et rétraction extrêmes. Un organe de friction préréglé est prévu dans un exemple de réalisation, pour maintenir le manche de commande dans la position dans laquelle il a été amené par le pilote.It is also known, through the document FR 2,295,473 , which is considered to be the closest prior art and describes the features of the preamble of claim 1, an autopilot system comprising amplitude limited authority series jacks. A system of flight director gives the pilot information to refocus the series cylinders when they are close to their extreme extension and retraction. A preset friction member is provided in an exemplary embodiment, to maintain the control stick in the position in which it was brought by the pilot.

Dans les cas où les vérins série sont installés relativement proche du manche cyclique, les réalisations connues présentent l'inconvénient majeur que le niveau de friction préréglé et nécessaire pour remplir la fonction d'ancrage desdits vérins, constitue une gêne pour le pilote lorsqu'il doit reprendre les commandes de l'aéronef.In cases where the series cylinders are installed relatively close to the cyclic stick, the known embodiments have the major disadvantage that the level of friction preset and necessary to fulfill the anchoring function of said cylinders, is an inconvenience for the driver when must take control of the aircraft.

Le but de la présente invention vise par conséquent à fournir un nouveau système de commandes de vol ne présentant pas les inconvénients mentionnés ci-dessus, en ne dégradant pas le confort de manipulation des commandes de vol pour le pilote.The object of the present invention is therefore to provide a new flight control system does not have the disadvantages mentioned above, not degrading the comfort of handling flight controls for the pilot.

Un autre but de la présente invention vise à fournir un nouveau système de commandes de vol permettant de stabiliser le pilotage à court terme et à long terme, malgré l'absence de vérins de trim.Another object of the present invention is to provide a new flight control system to stabilize the short-term and long-term steering, despite the absence of trim cylinders.

La présente invention a également pour objet de proposer un nouveau dispositif de friction permettant de s'affranchir des limitations mentionnées ci-dessus.The present invention also aims to provide a new friction device to overcome the limitations mentioned above.

La présente invention a également pour objet de proposer un nouveau système de pilotage automatique simplifié gérant un système de commandes de vol tout en s'affranchissant des limitations mentionnées ci-dessus.The present invention also aims to provide a new simplified autopilot system managing a flight control system while avoiding the limitations mentioned above.

Les buts et objets assignés à l'invention sont atteints à l'aide d'un dispositif de friction pour maintenir dans une position déterminée un organe de commande manuel,
caractérisé en ce qu'il comporte:

  • une pièce de contact mobile entre une position stable débrayée et une position stable embrayée et inversement, ladite position stable embrayée correspondant à une position dans laquelle la pièce de contact est en appui sur l'organe de commande de manière à établir une force de friction déterminée,
  • des moyens d'entraînement électromécaniques pour déplacer la pièce de contact entre les deux positions stables,
  • et un moyen de commande à distance pour activer et désactiver les moyens d'entraînement.
The objects and objects assigned to the invention are achieved by means of a friction device for maintaining in a determined position a manual control member,
characterized in that it comprises:
  • a movable contact piece between a stable position disengaged and a stable engaged position and vice versa, said engaged stable position corresponding to a position in which the contact piece bears on the control member so as to establish a determined friction force ,
  • electromechanical drive means for moving the contact piece between the two stable positions,
  • and remote control means for activating and deactivating the driving means.

Selon un exemple de réalisation conforme à l'invention, les moyens d'entraînement comprennent un moteur électrique entraînant en rotation un arbre fileté sur lequel est monté un écrou solidaire de la pièce de contact, ledit écrou étant bloqué en rotation grâce un doigt d'arrêt fixe dont une extrémité est engagée transversalement dans ledit écrou, de manière à imposer un déplacement en translation dudit écrou dans une chemise de guidage sous l'effet de la rotation de l'arbre fileté.According to an exemplary embodiment according to the invention, the drive means comprise an electric motor driving in rotation a threaded shaft on which is mounted a nut integral with the contact piece, said nut being locked in rotation by means of a finger of fixed stop whose end is engaged transversely in said nut, so as to impose a displacement in translation of said nut in a guide sleeve under the effect of the rotation of the threaded shaft.

Selon un exemple de réalisation conforme à l'invention, la pièce de contact comporte une garniture femelle de forme hémisphérique destinée à venir en appui sur une garniture mâle de forme hémisphérique complémentaire fixée sur l'organe de commande, pour établir la friction.According to an exemplary embodiment according to the invention, the contact piece comprises a hemispherical female gasket intended to bear against a male complement of hemispherical shape attached to the control member, to establish the friction.

Selon un exemple de réalisation, le dispositif conforme à l'invention comprend des moyens de compensation pour rattraper automatiquement l'usure des parties réalisant la friction.According to an exemplary embodiment, the device according to the invention comprises compensating means for automatically compensating for the wear of the parts producing the friction.

Selon un exemple de réalisation conforme à l'invention, les moyens de compensation comprennent d'une part un support de garniture monté coulissant et bloqué en rotation sur une portion d'extrémité de l'écrou présentant un diamètre plus faible que le diamètre de la portion complémentaire dudit écrou et d'autre part un ressort monté sur la portion d'extrémité de l'écrou entre le support de garniture et un épaulement réalisé par la portion complémentaire, ledit ressort étant comprimé lorsque la friction est établie.According to an exemplary embodiment according to the invention, the compensation means comprise on the one hand a lining support slidably mounted and locked in rotation on an end portion of the nut having a diameter smaller than the diameter of the liner. complementary portion of said nut and secondly a spring mounted on the end portion of the nut between the lining support and a shoulder formed by the complementary portion, said spring being compressed when the friction is established.

Selon un exemple de réalisation, le dispositif conforme à l'invention comporte des moyens de limitation pour limiter automatiquement la force de friction à un seuil de friction maximal déterminé.According to an exemplary embodiment, the device according to the invention comprises limiting means for automatically limiting the friction force to a predetermined maximum friction threshold.

Selon un exemple de réalisation conforme à l'invention, les moyens de limitation comprennent une lumière oblongue ménagée dans l'écrou et dans laquelle est engagée l'extrémité du doigt d'arrêt fixe, limitant ainsi la course en translation de l'écrou à une distance correspondant à la dimension longitudinale de la lumière oblongue et limitant par conséquent la compression du ressort.According to an exemplary embodiment according to the invention, the limiting means comprise an oblong slot formed in the nut and in which is engaged the end of the fixed stop finger, thus limiting the travel in translation of the nut to a distance corresponding to the longitudinal dimension of the oblong slot and consequently limiting the compression of the spring.

Selon un exemple de réalisation, le dispositif conforme à l'invention comporte des moyens de réglage du niveau d'effort de friction.According to an exemplary embodiment, the device according to the invention comprises means for adjusting the level of friction force.

Selon un exemple de réalisation conforme à l'invention, l'organe de commande est un manche cyclique d'un giravion du genre hélicoptère.According to an exemplary embodiment according to the invention, the control member is a cyclic stick of a rotorcraft of the helicopter type.

Les objets assignés à l'invention sont également atteints à l'aide d'un système de commandes de vol pour aéronef comportant au moins un organe mobile d'attitude, comprenant :

  • au moins un organe de commande manuel agissant sur au moins un axe de commande de l'aéronef,
  • et au moins une chaîne mécanique de commande pour chaque axe de commande, chaque chaîne mécanique de commande reliant l'organe de commande à au moins un organe mobile d'attitude de l'aéronef,
caractérisé en ce qu'il comprend un dispositif de friction tel que décrit ci-dessus sur au moins une chaîne mécanique de commande.The objects assigned to the invention are also achieved by means of an aircraft flight control system comprising at least one mobile attitude member, comprising:
  • at least one manual control member acting on at least one control axis of the aircraft,
  • and at least one mechanical control chain for each control axis, each mechanical control chain connecting the control member to at least one mobile attitude member of the aircraft,
characterized in that it comprises a friction device as described above on at least one mechanical control chain.

Selon un exemple de réalisation conforme à l'invention, l'organe de commandes manuel est un manche cyclique et l'organe mobile d'attitude est un plateau cyclique, les axes de commande comprenant ainsi l'axe de commande en roulis et l'axe de commande en tangage de l'aéronef.According to an exemplary embodiment according to the invention, the manual control member is a cyclic stick and the mobile attitude member is a cyclic plateau, the control axes thus comprising the control axis in roll and the pitch control axis of the aircraft.

Selon un exemple de réalisation, le système de commandes de vol conforme à l'invention comprend un palonnier en tant qu'organe de commande pour agir sur un rotor anti-couple, les axes de commande comprenant ainsi au moins l'axe de commande en lacet de l'aéronef.According to an exemplary embodiment, the flight control system according to the invention comprises a spreader as a control member for acting on an anti-torque rotor, the control axes thus comprising at least the control axis. yaw of the aircraft.

Selon un exemple de réalisation, le système de commandes de vol conforme à l'invention comprend un manche collectif en tant qu'organe de commande pour agir sur le pas collectif d'un rotor principal, les axes de commande comprenant ainsi au moins l'axe de commande du pas collectif.According to an exemplary embodiment, the flight control system according to the invention comprises a collective shaft as a control member for acting on the collective pitch of a main rotor, the control axes thus comprising at least one control axis of the collective pitch.

Selon un exemple de réalisation, le système de commandes de vol conforme à l'invention comprend deux manches cycliques reliés entre eux par un tube de conjugaison de tangage sur lequel ils sont articulés, le dispositif de friction constituant un prolongement d'un côté dudit tube de conjugaison de tangage monté rotatif sur un longeron de la structure de l'aéronef et le centre de la garniture mâle hémisphérique coïncidant avec le point d'intersection de l'axe dudit tube de conjugaison de tangage et de l'axe de rotation en roulis du manche cyclique situé du même côté.According to an exemplary embodiment, the flight control system according to the invention comprises two cyclic sleeves interconnected by a pitch conjugation tube on which they are articulated, the friction device constituting an extension of one side of said tube rotary pitching unit mounted on a spar of the aircraft structure and the center of the hemispherical male lining coinciding with the point of intersection of the axis of said pitch coupling tube and the roll axis of rotation cyclic stick located on the same side.

Selon un exemple de réalisation, le système de commandes de vol conforme à l'invention comprend des moyens de réglage du niveau d'effort de friction sur au moins une chaîne de commande mécanique, pour optimiser le paramètre de confort de pilotage notamment des chaînes de commande cycliques.According to an exemplary embodiment, the flight control system in accordance with the invention comprises means for adjusting the level of frictional force on at least one mechanical control chain, in order to optimize the driving comfort parameter, in particular the control chains. cyclic control.

Selon un exemple de réalisation, le système de commandes de vol conforme à l'invention comprend des moyens pour augmenter la stabilité de l'aéronef.According to an exemplary embodiment, the flight control system according to the invention comprises means for increasing the stability of the aircraft.

Selon un exemple de réalisation du système de commandes de vol conforme à l'invention, les moyens pour augmenter la stabilité comprennent :

  • un moyen d'actionnement à autorité limité en amplitude monté en série sur au moins une chaîne de commande de manière à agir sur l'organe mobile d'attitude en fonction d'une consigne de vol,
  • un moyen de détermination de la marge d'amplitude du moyen d'actionnement à autorité limité en amplitude,
  • un indicateur informant le pilote lorsque la marge d'amplitude est inférieure à une valeur déterminée et indiquant au pilote le sens de déplacement de l'organe de commande manuel pour rétablir une marge d'amplitude suffisante, ledit indicateur fournissant ainsi des informations à long terme d'attitude ou de contrôle de trajectoire,
  • et des moyens pour rétablir la marge d'amplitude tout en conservant le positionnement de l'organe mobile d'attitude.
According to an exemplary embodiment of the flight control system according to the invention, the means for increasing stability include:
  • an amplitude limited authority actuating means connected in series on at least one control line so as to act on the attitude moving member as a function of a flight instruction,
  • means for determining the amplitude margin of the limited amplitude authority actuating means,
  • an indicator informing the pilot when the amplitude margin is less than a determined value and indicating to the pilot the direction of movement of the manual control to restore a margin of sufficient amplitude, said indicator thus providing long-term information of attitude or trajectory control,
  • and means for restoring the amplitude margin while maintaining the positioning of the movable attitude member.

Selon un exemple de réalisation conforme à l'invention, le moyen de commande à distance est un commutateur installé sur une poignée de l'organe de commande.According to an exemplary embodiment according to the invention, the remote control means is a switch installed on a handle of the control member.

Selon un exemple de réalisation conforme à l'invention, les moyens de réglage du niveau d'effort de friction sont associés à un organe de réglage à distance prévu sur l'organe de commande manuel.According to an exemplary embodiment according to the invention, the friction force level adjustment means are associated with a remote adjustment member provided on the manual control member.

Les objets assignés à l'invention sont également atteints à l'aide d'un système de pilotage automatique simplifié pour giravion comportant au moins un calculateur et des moyens logiciels pour mettre en oeuvre des fonctions de gestion d'un système de commandes de vol,
caractérisé en ce qu'il comprend :

  • au moins un organe de commande manuel susceptible d'agir sur au moins un axe de commande de l'aéronef,
  • au moins une chaîne mécanique de commande pour chaque axe de commande, ladite chaîne reliant l'organe de commande à au moins un organe mobile d'attitude de l'aéronef,
  • un moyen d'actionnement à autorité limité en amplitude monté en série sur au moins une chaîne de commande, de manière à piloter la position de l'organe mobile d'attitude en fonction d'une consigne de vol et à agir si nécessaire sur l'organe mobile d'attitude pour modifier sa position,
  • un moyen de détermination de la marge d'amplitude du moyen d'actionnement à autorité limité en amplitude,
  • un indicateur informant le pilote lorsque la marge d'amplitude est inférieure à une valeur déterminée et indiquant au pilote le sens de déplacement de l'organe de commande manuel pour rétablir une marge d'amplitude suffisante, ledit indicateur fournissant ainsi des informations à long terme d'attitude ou de contrôle de trajectoire,
  • des moyens pour rétablir la marge d'amplitude suffisante tout en conservant le positionnement de l'organe mobile d'attitude,
  • et un dispositif de friction tel que décrit ci-dessus.
The objects assigned to the invention are also achieved by means of a simplified autopilot system for a rotorcraft comprising at least one computer and software means for implementing management functions of a flight control system,
characterized in that it comprises:
  • at least one manual control member capable of acting on at least one control axis of the aircraft,
  • at least one mechanical control chain for each control axis, said chain connecting the control member to at least one mobile attitude member of the aircraft,
  • an amplitude limited authority actuating means connected in series on at least one control line, so as to control the position of the movable attitude member by function of a flight instruction and to act if necessary on the mobile attitude member to change its position,
  • means for determining the amplitude margin of the limited amplitude authority actuating means,
  • an indicator informing the pilot when the amplitude margin is less than a determined value and indicating to the pilot the direction of movement of the manual control member to restore a margin of sufficient amplitude, said indicator thus providing long-term information attitude or trajectory control,
  • means for restoring the margin of sufficient amplitude while maintaining the positioning of the mobile attitude member,
  • and a friction device as described above.

Selon un exemple de réalisation conforme à l'invention, l'organe de commande manuel est un manche cyclique, les axes de commande comprenant ainsi l'axe de commande en roulis et l'axe de commande en tangage.According to an exemplary embodiment according to the invention, the manual control member is a cyclic handle, the control axes thus comprising the roll control axis and the pitch control axis.

Selon un exemple de réalisation conforme à l'invention, le système de pilotage automatique simplifié comprend une boucle de surveillance d'activité de pilotage manuel et des moyens de débrayage automatiques du dispositif de friction pour débrayer le dispositif de friction lorsqu'un seuil déterminé d'activité de pilotage manuel est atteint.According to an exemplary embodiment according to the invention, the simplified automatic control system comprises a manual steering activity monitoring loop and automatic disengagement means of the friction device to disengage the friction device when a determined threshold of manual driving activity is achieved.

Les objets assignés à l'invention sont également atteints à l'aide d'un aéronef du genre giravion ou hélicoptère, comportant un système de commande de vol tel que décrit ci-dessus.The objects assigned to the invention are also achieved using an aircraft of the genus rotorcraft or helicopter, comprising a flight control system as described above.

Les objets assignés à l'invention sont également atteints à l'aide d'un aéronef du genre giravion ou hélicoptère comportant un système de pilotage automatique simplifié tel que décrit ci-dessus.The objects assigned to the invention are also achieved using a rotorcraft or helicopter type aircraft comprising a simplified autopilot system as described above.

Le dispositif de friction conforme à l'invention présente l'avantage de pouvoir agir simultanément sur la chaîne de commande de roulis et sur la chaîne de commande de tangage.The friction device according to the invention has the advantage of being able to act simultaneously on the roll control chain and on the pitch control chain.

Le dispositif de friction conforme à l'invention présente ainsi l'avantage de procurer un gain en masse, comparativement à l'utilisation d'un mécanisme de friction spécifique sur chaque chaîne de commande.The friction device according to the invention thus has the advantage of providing a mass gain, compared to the use of a specific friction mechanism on each control line.

Un autre avantage du dispositif de friction conforme à l'invention réside dans le fait qu'il est embrayable/débrayable à distance et sans effort de la part du pilote.Another advantage of the friction device according to the invention lies in the fact that it is engageable / disengageable remotely and without effort on the part of the pilot.

Un autre avantage du dispositif de friction conforme à l'invention, résulte de son encombrement faible, permettant une intégration plus aisée dans un système de commandes de vol d'un giravion. L'intégration au moins partielle du dispositif au tube de conjugaison de tangage, contribue substantiellement à cet encombrement réduit.Another advantage of the friction device according to the invention results from its small footprint, allowing easier integration into a flight control system of a rotorcraft. The at least partial integration of the device with the pitch conjugation tube contributes substantially to this reduced space requirement.

Par ailleurs, un dispositif de friction conforme à l'invention pourrait être installé sur des appareils de la flotte déjà en service et pas uniquement sur des appareils neufs.Furthermore, a friction device according to the invention could be installed on aircraft in the fleet already in service and not only on new aircraft.

En outre, le dispositif de friction conforme à l'invention a l'avantage de présenter une consommation électrique faible.In addition, the friction device according to the invention has the advantage of having a low power consumption.

Le dispositif de friction conforme à l'invention présente également l'avantage de rattraper l'usure des pièces en contact établissant la friction, augmentant ainsi la longévité desdites pièces.The friction device according to the invention also has the advantage of making up for the wear of the frictionally contacting parts, thereby increasing the longevity of said parts.

Le dispositif de friction conforme à l'invention présente également l'avantage de présenter un niveau de friction maximal. Ce niveau maximal de friction est choisi de manière à permettre, en cas de grippage du dispositif en position embrayée, au pilote de poursuivre le vol en pilotage manuel et d'atterrir en toute sécurité.The friction device according to the invention also has the advantage of having a maximum level of friction. This maximum friction level is chosen so as to allow, in case of seizure of the device in the engaged position, the pilot to continue the flight in manual flight and to land safely.

Un avantage du système de pilotage automatique simplifié conforme à l'invention réside dans la combinaison du dispositif de friction et des moyens augmentant la stabilité du giravion. La stabilisation à court terme est ainsi complétée par une stabilisation à long terme et ce, même en l'absence de vérins de trim.An advantage of the simplified autopilot system according to the invention lies in the combination of the friction device and means increasing the stability of the rotorcraft. Short-term stabilization is thus complemented by long-term stabilization, even in the absence of trim cylinders.

Un avantage du système de commandes de vol conforme à l'invention, réside dans la possibilité de son utilisation sur des axes de commandes de vol de l'aéronef, équipés ou non de moyens d'augmentation de stabilité.An advantage of the flight control system according to the invention lies in the possibility of its use on flight control axes of the aircraft, with or without means for increasing stability.

L'invention et ses avantages apparaîtront avec plus de détails dans le cadre de la description qui suit avec un exemple de réalisation donné à titre illustratif et non limitatif en référence aux figures annexées qui représentent :

  • la figure 1, une illustration schématique partielle d'un exemple de réalisation d'un système de commande de vol conforme à l'invention et destiné à un hélicoptère,
  • la figure 2, une illustration en coupe d'un exemple de réalisation d'un dispositif de friction conforme à l'invention, associé à un manche cyclique d'un hélicoptère, ledit dispositif de friction étant dans un état embrayé,
  • la figure 3, une illustration en coupe d'un exemple de réalisation d'un dispositif de friction conforme à l'invention, associé à un manche cyclique d'un hélicoptère, ledit dispositif de friction étant dans un état débrayé,
  • la figure 4, un détail agrandi des figures 2 et 3,
  • et la figure 5, un exemple de réalisation d'un dispositif de friction conforme à l'invention, agissant sur un unique axe de commande d'un aéronef.
The invention and its advantages will appear in more detail in the context of the description which follows with an exemplary embodiment given by way of nonlimiting illustration with reference to the appended figures which represent:
  • the figure 1 , a partial schematic illustration of an exemplary embodiment of a flight control system according to the invention and intended for a helicopter,
  • the figure 2 , an illustration in section of an exemplary embodiment of a friction device according to the invention, associated with a cyclic stick of a helicopter, said friction device being in an engaged state,
  • the figure 3 , an illustration in section of an exemplary embodiment of a friction device according to the invention, associated with a cyclic stick of a helicopter, said friction device being in a disengaged state,
  • the figure 4 , an enlarged detail of figures 2 and 3 ,
  • and the figure 5 , an embodiment of a friction device according to the invention, acting on a single control axis of an aircraft.

Les éléments structurellement et fonctionnellement identiques, présents dans plusieurs figures distinctes, sont affectés d'une seule et même référence numérique ou alphanumérique.The structurally and functionally identical elements, present in several distinct figures, are assigned a single numerical or alphanumeric reference.

Même si dans la suite, il sera fait plus particulièrement référence à un hélicoptère, tout autre type d'aéronef, du genre giravion peut intégrer la présente invention.Although in the following, reference will be made more particularly to a helicopter, any other type of aircraft, such as a rotorcraft, may incorporate the present invention.

La figure 1 est une illustration schématique d'un exemple de réalisation d'un système de commandes de vol conforme à l'invention et destiné à un giravion du genre hélicoptère.The figure 1 is a schematic illustration of an exemplary embodiment of a flight control system according to the invention and intended for a rotorcraft of the helicopter type.

Le système de commandes de vol est destiné par exemple à un giravion comportant au moins un rotor principal.The flight control system is intended for example for a rotorcraft comprising at least one main rotor.

Le système de commandes de vol comporte un organe de commande manuel 2 dédoublé agissant chacun sur au moins deux axes de commande du giravion, à savoir l'axe en tangage T et l'axe en roulis R. Une chaîne mécanique de commande gauche Crg et une chaîne mécanique de commande droite Crd, combinées par un mécanisme pivotant 7 relient ainsi l'organe de commande 2 à un plateau cyclique 3 du rotor principal via des servocommandes hydrauliques 4 et 5 pour contrôler le roulis. La combinaison des chaînes de commande gauche Crg et droite Crd constitue la chaîne de commande en roulis Cr.The flight control system comprises a split manual control member 2 each acting on at least two control axes of the rotorcraft, namely the pitch axis T and the roll axis R. A left control mechanical chain Crg and a mechanical right control chain Crd, combined by a pivoting mechanism 7 and connect the control member 2 to a swash plate 3 of the main rotor via hydraulic servo 4 and 5 to control the roll. The combination of the left control chains Crg and right Crd constitutes the control chain in roll Cr.

Une chaîne mécanique de commande de tangage Ct relie l'organe de commande 2, en l'occurrence un manche cyclique, au plateau cyclique 3 via une servocommande hydraulique complémentaire 6, assurant ainsi le contrôle en tangage.A mechanical pitch control chain Ct connects the control member 2, in this case a cyclic stick, to the cyclic plateau 3 via a complementary hydraulic servocontrol 6, thus ensuring pitch control.

L'organe de commande 2 manuel est par exemple un manche cyclique agissant sur les axes de commande comprenant l'axe de commande en roulis et l'axe de commande en tangage.The manual control member 2 is for example a cyclic stick acting on the control axes comprising the roll control axis and the pitch control axis.

A titre d'exemple, le système de commandes de vol conforme à l'invention comprend également un palonnier, non représenté, en tant qu'organe de commande complémentaire pour agir sur un rotor anti-couple, les axes de commande comprenant ainsi un axe de commande en lacet L.For example, the flight control system according to the invention also comprises a spreader, not shown, as a complementary control member for acting on an anti-torque rotor, the control axes thus comprising an axis L. Lace-up

Le système de commandes de vol conforme à l'invention peut comprendre également un manche collectif 8 en tant qu'organe de commande complémentaire pour agir sur le pas collectif du rotor principal, les axes de commande comprenant ainsi un axe de commande en pas collectif. Lors du déplacement du manche collectif 8, les servocommandes hydrauliques 4,5,6 agissent simultanément et avec la même amplitude. Une chaîne mécanique de commande spécifique Cc est prévue à cet effet. D'autres mécanismes de transmission et de renvois du système de commandes de vol sont très largement connus et ne sont pas décrits davantage dans la présente.The flight control system according to the invention may also comprise a collective shaft 8 as a complementary control member for acting on the collective pitch of the main rotor, the control axes thus comprising a control axis in collective pitch. When moving the collective handle 8, the hydraulic servo-controls 4,5,6 act simultaneously and with the same amplitude. A specific mechanical control chain Cc is provided for this purpose. Other transmission and referral mechanisms of the flight control system are very widely known and are not further described herein.

Selon un exemple de réalisation, le système de commandes de vol conforme à l'invention comprend deux manches cycliques reliés entre eux par un tube de conjugaison de tangage 9 sur lequel ils sont articulés. Une tige de liaison 10 reliant les extrémités inférieures des manches cycliques permet de transmettre les commandes en roulis d'un manche à l'autre.According to an exemplary embodiment, the flight control system according to the invention comprises two cyclic sleeves interconnected by a pitch conjugation tube 9 on which they are articulated. A connecting rod 10 connecting the lower ends of the cyclic sleeves makes it possible to transmit the commands in roll from one handle to the other.

Le système de commandes de vol conforme à l'invention comprend un dispositif de friction 11 constituant un prolongement du tube de conjugaison de tangage 9. Ce prolongement est monté rotatif sur un longeron 12 de la structure du giravion.The flight control system according to the invention comprises a friction device 11 constituting an extension pitch extension tube 9. This extension is rotatably mounted on a spar 12 of the structure of the rotorcraft.

Selon un exemple de réalisation, le système de commandes de vol conforme à l'invention comprend des moyens de réglage du niveau d'effort de friction, non représentés, pour optimiser le paramètre de confort de pilotage notamment des chaînes de commande cycliques. Les moyens de réglage du niveau d'effort de friction sont par exemple associés à un organe de réglage à distance prévu sur le manche cyclique.According to an exemplary embodiment, the flight control system according to the invention comprises means for adjusting the level of friction force, not shown, to optimize the driving comfort parameter including cyclic control chains. The means for adjusting the level of frictional force are for example associated with a remote adjustment member provided on the cyclic handle.

Selon un exemple de réalisation, le système de commandes de vol conforme à l'invention comprend des moyens pour augmenter la stabilité du giravion.According to an exemplary embodiment, the flight control system according to the invention comprises means for increasing the stability of the rotorcraft.

Selon un exemple de réalisation du système de commande de vol conforme à l'invention, les moyens pour augmenter la stabilité comprennent un moyen d'actionnement à autorité limité en amplitude 13 monté en série sur chaque chaîne de commande Cr, et Ct, de manière à agir sur l'organe mobile d'attitude, notamment le plateau cyclique 3 en fonction d'une consigne de vol. Ces moyens d'actionnement à autorité limitée en amplitude 13 sont par exemple des vérins électriques.According to an exemplary embodiment of the flight control system according to the invention, the means for increasing the stability comprise an amplitude limited authority actuating means 13 connected in series on each control chain Cr, and Ct, so acting on the mobile attitude member, in particular the swashplate 3 according to a flight instruction. These amplitude-limited authority actuating means 13 are, for example, electric cylinders.

Le système de commandes de vol conforme à l'invention comprend également un moyen de détermination de la marge d'amplitude du moyen d'actionnement à autorité limitée en amplitude 13. Ce moyen de détermination de la marge d'amplitude comprend par exemple un ou plusieurs capteurs de position.The flight control system in accordance with the invention also comprises a means for determining the amplitude margin of the amplitude-limited authority actuating means 13. This means of determining the amplitude margin comprises, for example, one or several position sensors.

Le système de commandes de vol conforme à l'invention comprend également un indicateur informant le pilote lorsque la marge d'amplitude est inférieure à une valeur déterminée, par exemple 10% de la course totale et indiquant au pilote le sens de déplacement de l'organe de commande 2 manuel pour rétablir une marge d'amplitude suffisante, ledit indicateur fournissant ainsi des informations à long terme d'attitude ou de contrôle de trajectoire.The flight control system according to the invention also comprises an indicator informing the pilot when the amplitude margin is less than a determined value, for example 10% of the total stroke and indicating to the pilot the meaning of movement of the manual control member 2 to restore a margin of sufficient amplitude, said indicator thus providing long-term information attitude or trajectory control.

Le système de commandes de vol conforme à l'invention comprend également des moyens pour rétablir la marge d'amplitude tout en conservant le positionnement de l'organe mobile, par exemple le plateau cyclique 3. Les moyens pour rétablir la marge d'amplitude comprennent par exemple un calculateur spécifique ou un calculateur intégré à un système de pilotage automatique pour compenser automatiquement le rétablissement de la marge d'amplitude. Des capteurs, du genre capteurs à effet Hall, permettent de déterminer le déplacement de l'organe de commande 2 et l'amplitude du moyen d'actionnement à autorité limitée 13. Les moyens pour rétablir une marge d'amplitude suffisante, commandent alors un déplacement en sens inverse à l'ordre provenant de l'organe de commande 2 (raccourcissement ou élongation des vérins séries) pour ne pas modifier le positionnement de l'organe mobile d'attitude. Le rétablissement de la marge d'amplitude correspond par exemple à un recentrage des vérins séries.The flight control system according to the invention also comprises means for restoring the amplitude margin while maintaining the positioning of the movable member, for example the swashplate 3. The means for restoring the amplitude margin comprise for example a specific computer or a computer integrated in an autopilot system to automatically compensate for the restoration of the amplitude margin. Sensors, such as Hall effect sensors, make it possible to determine the displacement of the control member 2 and the amplitude of the limited-authority actuating means 13. The means for restoring a margin of sufficient amplitude then control a moving in the opposite direction to the order from the control member 2 (shortening or elongation of the series cylinders) to not change the positioning of the movable attitude member. The restoration of the amplitude margin corresponds for example to a refocusing of the series cylinders.

Selon un exemple de réalisation conforme à l'invention, le dispositif de friction est activé et désactivé par l'intermédiaire d'un moyen de commande à distance 14 du genre commutateur, installé sur une poignée 15 de l'organe de commande 2.According to an exemplary embodiment according to the invention, the friction device is activated and deactivated by means of a remote control means 14 of the switch type, installed on a handle 15 of the control member 2.

La figure 2 est une illustration en coupe d'un exemple de réalisation du dispositif de friction conforme à l'invention, associé à l'organe de commande 2 du genre un manche cyclique d'un hélicoptère, ledit dispositif de friction étant dans un état embrayé et par conséquent actif.The figure 2 is a sectional illustration of an exemplary embodiment of the friction device according to the invention, associated with the control member 2 of the kind a cyclic stick of a helicopter, said friction device being in an engaged state and by therefore active.

Le dispositif de friction conforme à l'invention comporte une pièce de contact 16 mobile entre une position stable débrayée et une position stable embrayée et inversement. La position stable embrayée correspond à une position dans laquelle la pièce de contact 16 est en appui sur l'organe de commande 2 de manière à établir une force de friction déterminée.The friction device according to the invention comprises a contact piece 16 movable between a stable position disengaged and a stable position engaged and vice versa. The stable position engaged corresponds to a position in which the contact piece 16 bears on the control member 2 so as to establish a determined friction force.

Selon un exemple de réalisation conforme à l'invention, la pièce de contact 16 comporte une garniture femelle 17 de forme hémisphérique destinée à venir en appui sur une garniture mâle 18 de forme hémisphérique complémentaire, fixée sur l'organe de commande 2, pour établir la friction. Le centre de la garniture mâle 18 hémisphérique coïncidant avec le point d'intersection de l'axe dudit tube de conjugaison de tangage 9 et de l'axe de rotation en roulis 9a du manche cyclique coopérant directement avec le dispositif de friction 11.According to an exemplary embodiment according to the invention, the contact piece 16 comprises a female lining 17 of hemispherical shape intended to bear on a male lining 18 of complementary hemispherical shape, fixed on the control member 2, to establish friction. The center of the hemispherical male lining 18 coinciding with the point of intersection of the axis of said pitch conjugation tube 9 and the rolling axis of rotation 9a of the cyclic handle cooperating directly with the friction device 11.

Le dispositif de friction conforme à l'invention comporte des moyens d'entraînement électromécaniques pour déplacer la pièce de contact 16 entre les deux positions stables. Le moyen de commande à distance 14 permet d'activer et de désactiver les moyens d'entraînement.The friction device according to the invention comprises electromechanical drive means for moving the contact piece 16 between the two stable positions. The remote control means 14 makes it possible to activate and deactivate the drive means.

Selon un exemple de réalisation conforme à l'invention, les moyens d'entraînement comprennent un moteur électrique 19 entraînant en rotation un arbre fileté 20 sur lequel est monté un écrou 21 solidaire de la pièce de contact 16. L'écrou 21 est bloqué en rotation grâce un doigt d'arrêt 22 dont une extrémité est engagée transversalement dans ledit écrou 21, de manière à imposer un déplacement en translation dudit écrou 21 dans une chemise de guidage 23 sous l'effet de la rotation de l'arbre fileté 20.According to an exemplary embodiment according to the invention, the drive means comprise an electric motor 19 driving in rotation a threaded shaft 20 on which is mounted a nut 21 integral with the contact piece 16. The nut 21 is locked in position. rotation by means of a stop finger 22, one end of which is engaged transversely in said nut 21, so as to impose a displacement in translation of said nut 21 in a guide jacket 23 under the effect of the rotation of the threaded shaft 20.

Au moins un arbre de fixation 19a permet de fixer le moteur électrique 19 sur le côté extérieur du longeron 12. Plus précisément, le couple du moteur électrique 19 est repris par un support 19b serré sur le carter du moteur électrique 19 et fixé sur le longeron 12 par l'intermédiaire d'au moins un arbre de fixation 19a.At least one fixing shaft 19a makes it possible to fix the electric motor 19 on the outer side of the spar 12. More specifically, the torque of the electric motor 19 is taken up by a support 19b clamped on the housing of the electric motor 19 and fixed on the spar 12 through at least one fixing shaft 19a.

Le doigt d'arrêt 22 est fixé sur le longeron 12 par l'intermédiaire d'une plaque de fixation 22a.The stop finger 22 is fixed on the spar 12 by means of a fixing plate 22a.

Le guidage en rotation du tube de conjugaison de tangage 9 dans le longeron 12 est assuré par un roulement 24.The rotational guidance of the pitch conjugation tube 9 in the spar 12 is provided by a bearing 24.

Une butée à billes 25 reprend l'effort d'appui de l'arbre fileté 20, lequel presse la pièce de contact 16 contre la garniture mâle 18. La butée à billes 25 est par ailleurs arrêtée en translation par un chapeau 26, fixé sur l'extrémité du tube de conjugaison de tangage 9. La butée à billes 25 est prise en sandwich entre un épaulement 20a de l'arbre fileté 20 et le chapeau 26.A thrust bearing 25 resumes the bearing force of the threaded shaft 20, which presses the contact piece 16 against the male lining 18. The thrust bearing 25 is also stopped in translation by a cap 26, fixed on the end of the pitch conjugation tube 9. The thrust bearing 25 is sandwiched between a shoulder 20a of the threaded shaft 20 and the cap 26.

Selon un exemple de réalisation, le dispositif conforme à l'invention comprend des moyens de compensation pour rattraper automatiquement l'usure liée à la friction de la garniture femelle 17 sur la garniture mâle 18.According to an exemplary embodiment, the device according to the invention comprises compensating means for automatically compensating the friction-related wear of the female lining 17 on the male lining 18.

Selon un exemple de réalisation conforme à l'invention, les moyens de compensation comprennent d'une part un support de garniture 27 monté coulissant et bloqué en rotation sur une portion d'extrémité de l'écrou 21 présentant un diamètre plus faible que le diamètre de la portion complémentaire dudit écrou 21 et d'autre part un ressort 28 monté sur la portion d'extrémité de l'écrou 21 de diamètre plus faible, entre le support de garniture 27 et un épaulement 21 a réalisé par la portion complémentaire dudit écrou 21.According to an exemplary embodiment according to the invention, the compensation means comprise on the one hand a lining support 27 slidably mounted and locked in rotation on an end portion of the nut 21 having a diameter smaller than the diameter. of the complementary portion of said nut 21 and secondly a spring 28 mounted on the end portion of the nut 21 of smaller diameter, between the lining support 27 and a shoulder 21 made by the complementary portion of said nut 21.

Le ressort 28 est comprimé lorsque la friction est établie. Une goupille 29 traversant le support de garniture 27 et une fente longitudinale de la portion d'extrémité de l'écrou 21, permet de bloquer en rotation ledit support de garniture 27. La goupille 29 présente un jeu en translation suffisant pour permettre au ressort 28 de pousser le support de garniture 27 contre la garniture mâle 18. On pourra se reporter à la figure 2. L'écrou 21 entraîne donc en translation le support de garniture 27 par l'intermédiaire du ressort 28. Le contact entre les garnitures mâle 18 et femelle 17 est donc maintenu indépendamment de l'usure desdites garnitures.The spring 28 is compressed when the friction is established. A pin 29 passing through the lining support 27 and a longitudinal slot of the end portion of the nut 21 makes it possible to lock said lining support 27 in rotation. The pin 29 has sufficient backlash to allow the spring 28 to push the lining support 27 against the male lining 18. It will be possible to refer to the figure 2 . The nut 21 therefore drives the lining support 27 in translation through the spring 28. The contact between the male and female lining 17 is therefore maintained independently of the wear of said lining.

Selon un exemple de réalisation, le dispositif conforme à l'invention comporte des moyens de limitation pour limiter automatiquement la force de friction à un seuil de friction maximal déterminé.According to an exemplary embodiment, the device according to the invention comprises limiting means for automatically limiting the friction force to a predetermined maximum friction threshold.

Selon un exemple de réalisation conforme à l'invention, les moyens de limitation comprennent une lumière oblongue 30 ménagée latéralement dans le corps de l'écrou 21 et dans laquelle est engagée l'extrémité du doigt d'arrêt 22. La direction longitudinale de la lumière oblongue 30 est parallèle à l'axe de l'écrou 21. Cette lumière oblongue 30 limite ainsi la course en translation de l'écrou 21 à une distance correspondant à la dimension longitudinale de ladite lumière oblongue 30 et limite par conséquent la compression du ressort 28.According to an exemplary embodiment according to the invention, the limiting means comprise an oblong slot 30 formed laterally in the body of the nut 21 and in which is engaged the end of the stop finger 22. The longitudinal direction of the oblong slot 30 is parallel to the axis of the nut 21. This oblong slot 30 thus limits the travel in translation of the nut 21 at a distance corresponding to the longitudinal dimension of said oblong slot 30 and consequently limits the compression of the spring 28.

Selon un exemple de réalisation, le dispositif conforme à l'invention comporte des moyens de réglage du niveau d'effort de friction. Le moteur électrique 19 peut être à cet effet un moteur pas à pas pour procéder à un réglage précis de la compression du ressort 28.According to an exemplary embodiment, the device according to the invention comprises means for adjusting the level of friction force. The electric motor 19 may be for this purpose a stepping motor to perform a precise adjustment of the compression of the spring 28.

La figure 3 est une illustration en coupe d'un exemple de réalisation d'un dispositif de friction conforme à l'invention, associé à un manche cyclique d'un hélicoptère, ledit dispositif de friction étant dans un état débrayé.The figure 3 is an illustration in section of an exemplary embodiment of a friction device according to the invention, associated to a cyclic stick of a helicopter, said friction device being in a disengaged state.

La figure 4 est par exemple un agrandissement en vue externe des éléments représentés dans les figures 2 et 3.The figure 4 is for example an enlargement in external view of the elements represented in the figures 2 and 3 .

La garniture femelle 17 n'est plus en contact de friction avec la garniture mâle 18. Le moteur électrique 19 permet de déplacer l'écrou 21 en translation sur une course suffisante de manière à ce que le ressort 28 ne soit moins comprimé. Cette course est déterminée par la dimension longitudinale de la lumière oblongue 30. Le support de garniture 27 est donc entraîné en position débrayée par l'intermédiaire de la goupille 29 sur laquelle il prend appui en arrivant en butée du jeu mécanique de translation.The female lining 17 is no longer in frictional contact with the male lining 18. The electric motor 19 moves the nut 21 in translation over a sufficient stroke so that the spring 28 is less compressed. This stroke is determined by the longitudinal dimension of the oblong slot 30. The packing support 27 is thus driven into the disengaged position by means of the pin 29 on which it bears while coming into abutment with the mechanical translational play.

La présente invention concerne également un système de pilotage automatique simplifié pour giravion comportant au moins un calculateur et des moyens logiciels pour mettre en oeuvre des fonctions de gestion du système de commande de vol.The present invention also relates to a simplified autopilot system for a rotorcraft comprising at least one computer and software means for implementing management functions of the flight control system.

Le système de pilotage automatique simplifié comprend :

  • l'organe de commande manuel 2 dédoublé susceptible d'agir sur au moins deux axes de commande du giravion,
  • au moins une chaîne mécanique de commande Cr, Ct pour chaque axe de commande, ladite chaîne reliant l'organe de commande 2 à au moins un organe mobile d'attitude du giravion,
  • le moyen d'actionnement à autorité limité en amplitude 13 monté en série sur chaque chaîne de commande Cr, Ct, de manière à déterminer la position de l'organe mobile d'attitude en fonction d'une consigne de vol et à agir si nécessaire sur l'organe mobile d'attitude pour modifier sa position,
  • le moyen de détermination de la marge d'amplitude du moyen d'actionnement à autorité limité en amplitude 13,
  • l'indicateur informant le pilote lorsque la marge d'amplitude est inférieure à une valeur déterminée et indiquant au pilote le sens de déplacement de l'organe de commande manuel 2 pour rétablir une marge d'amplitude suffisante, ledit indicateur fournissant ainsi des informations à long terme d'attitude ou de contrôle de trajectoire,
  • les moyens pour rétablir la marge d'amplitude suffisante tout en conservant le positionnement de l'organe mobile d'attitude,
  • et le dispositif de friction 11 conforme à l'invention.
The simplified autopilot system includes:
  • the manual control member 2 split capable of acting on at least two axes of control of the rotorcraft,
  • at least one mechanical control chain Cr, Ct for each control axis, said chain connecting the control member 2 to at least one movable attitude member of the rotorcraft,
  • the amplitude limited authority actuating means 13 connected in series with each control chain Cr, Ct, so as to determine the position of the mobile attitude member as a function of a flight instruction and to act if necessary on the moving organ of attitude to change its position,
  • the means for determining the amplitude margin of the limited amplitude authority actuating means 13,
  • the indicator informing the pilot when the amplitude margin is less than a determined value and indicating to the pilot the direction of movement of the manual control member 2 to restore a margin of sufficient amplitude, said indicator thus providing information to long-term attitude or trajectory control,
  • the means for restoring the margin of sufficient amplitude while maintaining the positioning of the mobile attitude member,
  • and the friction device 11 according to the invention.

Selon un exemple de réalisation conforme à l'invention, le système de pilotage automatique simplifié comprend une boucle de surveillance d'activité de pilotage manuel et des moyens de débrayage automatique du dispositif de friction lorsqu'un seuil déterminé d'activité de pilotage manuel est atteint.According to an exemplary embodiment according to the invention, the simplified automatic control system comprises a manual steering activity monitoring loop and automatic disengagement means of the friction device when a determined threshold of manual steering activity is achieved.

Le système de pilotage automatique comprend par exemple un capteur de déplacement sur chaque chaîne de commande cyclique de manière à disposer à chaque instant d'une information correspondant à la position instantanée Pos du manche cyclique. Le système de pilotage automatique calcule alors en permanence la position moyenne Posm du manche cyclique sur une période glissante T.The automatic control system comprises for example a displacement sensor on each cyclic control chain so as to have at each moment of information corresponding to the instantaneous position Pos of the cyclic stick. The autopilot system then continuously calculates the average Posm position of the cyclic stick over a sliding period T.

A cette fin on utilise la fonction : E = 1 T × ∑ T Pos - Posm 2

Figure imgb0001
calculée à chaque instant, qui est révélatrice de l'activité du pilote. Lorsqu'un seuil minimal pour la fonction E est dépassé, le système de pilotage automatique commande automatiquement le débrayage du dispositif de friction 11.For this purpose we use the function: E = 1 T × Σ T Pos - posm 2
Figure imgb0001
 calculated at each moment, which is indicative of the pilot's activity. When a minimum threshold for the function E is exceeded, the automatic control system automatically controls the disengagement of the friction device 11.

Afin d'éviter tout débrayage du dispositif de friction alors que le pilote n'a pas la main sur le manche cyclique, il peut être prévu de disposer un détecteur de présence du genre détecteur thermique ou détecteur de pression, sur la poignée 15 dudit manche cyclique. Ceci constitue alors une condition supplémentaire à satisfaire pour commander le débrayage automatique du dispositif de friction.In order to avoid any disengagement of the friction device while the pilot does not have the hand on the cyclic stick, provision may be made to have a presence detector of the type of thermal detector or pressure detector on the handle 15 of said handle cyclic. This then constitutes an additional condition to be satisfied for controlling the automatic disengagement of the friction device.

Une telle boucle de surveillance peut aussi être prévue sur les organes de commande complémentaires tels que le manche collectif 8 et/ou le palonnier.Such a monitoring loop can also be provided on additional control members such as the collective handle 8 and / or the rudder.

La figure 5 représente un exemple de réalisation d'un dispositif de friction 11 conforme à l'invention, agissant sur l'organe de commande manuel 2 d'un aéronef. L'organe de commande 2, matérialisé par un arbre rotatif, agit par exemple sur un unique axe de commande d'un avion ou d'un hélicoptère. Il peut s'agir par exemple de l'axe de commande du pas collectif ou de l'axe de commande du palonnier d'un hélicoptère ou d'un axe de commande d'attitude d'un avion.The figure 5 represents an exemplary embodiment of a friction device 11 according to the invention, acting on the manual control member 2 of an aircraft. The control member 2, embodied by a rotary shaft, acts for example on a single control axis of an aircraft or a helicopter. This may be for example the control axis of the collective pitch or the control axis of the rudder of a helicopter or an attitude control axis of an aircraft.

La pièce de contact 16 vient en friction avec un système de bielles 31,32,33 de l'organe de commande manuel 2 lorsque le dispositif de friction 11 est embrayé. Le dispositif de friction 11 et la bielle 31 contre laquelle vient s'appuyer la pièce de contact 16 sont immobilisés en translation sur une partie de structure 34 fixe de l'aéronef.The contact piece 16 comes into friction with a rod system 31,32,33 of the manual control member 2 when the friction device 11 is engaged. The friction device 11 and the connecting rod 31 against which the contact piece 16 abuts are immobilized in translation on a fixed structure portion 34 of the aircraft.

Naturellement, la présente invention est sujette à de nombreuses variations quant à sa mise en oeuvre. Bien que plusieurs modes de réalisations aient été décrits, on comprend bien qu'il n'est pas concevable d'identifier de manière exhaustive tous les modes possibles. Il est bien sûr envisageable de remplacer un moyen décrit par un moyen équivalent sans sortir du cadre de la présente invention.Naturally, the present invention is subject to many variations as to its implementation. Although several embodiments have been described, it is clear that it is not conceivable to exhaustively identify all the possible modes. It is of course conceivable to replace a means described by equivalent means without departing from the scope of the present invention.

Claims (24)

  1. Friction device (11) for maintaining a manual control member (2) of an aircraft in a determined position, characterised in that it comprises:
    - a contact part (16) movable between a disengaged stable position and an engaged stable position, and vice versa, said engaged stable position corresponding to a position in which the contact part (16) bears against the control member (2) in such a manner as to establish a determined friction force,
    - electromechanical drive means for moving the contact part between the two stable positions,
    - and a remote control means (14) for activating and deactivating the drive means.
  2. Friction device (11) according to claim 1,
    characterised in that it comprises compensation means for automatically taking up the wear of the parts producing the friction.
  3. Friction device (11) according to claim 1 or 2,
    characterised in that it comprises limiting means for automatically limiting the friction force to a determined maximum friction threshold.
  4. Friction device (11) according to any one of claims 1 to 3, characterised in that it comprises means for adjusting the level of the friction force.
  5. Friction device (11) according to any one of claims 1 to 4,
    characterised in that the drive means comprise an electric motor (19) rotationally driving a threaded shaft (20) on which is mounted a nut (21) secured to the contact part (16), said nut (21) being rotationally blocked by a stationary stop finger (22), one end of which is engaged transversely in said nut (21) so as to impose a translational movement on said nut (21) in a guide jacket (23) under the effect of the rotation of the threaded shaft (20).
  6. Friction device (11) according to claims 5 and 2,
    characterised in that the compensation means comprise on one side a fitting support (27) slidably mounted and rotationally blocked on an end portion of the nut (21) having a diameter smaller than the diameter of the complementary portion of said nut (21) and on the other side a spring (28) mounted on the end portion of the nut (21) between the fitting support (27) and a shoulder (21a) formed by the complementary portion, said spring (28) being compressed when the friction is established.
  7. Friction device (11) according to claims 5 and 3 or 6 and 3,
    characterised in that the limiting means comprise an oblong slot (30) formed in the nut (21) and in which is engaged the end of the stop finger (22), thus limiting the translational stroke of the nut (21) to a distance corresponding to the longitudinal dimension of the oblong slot (30) and consequently limiting the compression of the spring (28).
  8. Friction device (11) according to any one of claims 1 to 7,
    characterised in that the contact part (16) comprises a female fitting (17) of hemispherical shape intended to come to bear against a male fitting (18) of complementary hemispherical shape fastened on the control member (2), in order to establish the friction.
  9. Friction device (11) according to any one of claims 1 to 8,
    characterised in that the control member (2) is a cyclic stick of a rotorcraft of the helicopter type.
  10. Flight control system for an aircraft comprising at least one movable aircraft attitude member, comprising:
    - at least one manual control member (2,8) acting on at least two control axes of the aircraft,
    - and at least one mechanical control linkage (Cr,Ct,Cc,Cl) for each control axis, each mechanical control linkage (Cr,Ct,Cc,Cl) connecting a control member (2,8) to at least one movable attitude member of the aircraft,
    characterised in that it comprises a friction device (11) in accordance with any one of claims 1 to 9 in at least one mechanical control linkage (Cr,Ct,Cc,Cl).
  11. Flight control system according to claim 10,
    characterised in that the manual control member (2) is a cyclic stick and in that the movable attitude member is a swashplate (3) controlled by servo-controls (4,5,6), the control axes thus comprising the roll control axis (R) and the pitch control axis (T) of the aircraft.
  12. Flight control system according to claim 11,
    characterised in that it comprises two cyclic sticks connected together by a pitch torque tube (9) on which they are articulated, the friction device (11) constituting an extension of one side of said pitch torque tube (9) mounted rotatably on a longeron (12) of the aircraft structure and the centre of the male hemispherical fitting (18) coinciding with the point of intersection of the axis of said pitch torque tube (9) and the roll axis of rotation of the cyclic stick situated on the same side as said extension.
  13. Flight control system according to any one of claims 10 to 12,
    characterised in that it comprises pedals as a control member for acting for example on an anti-torque rotor, one of the control axes thus representing a yaw control axis (L) of the aircraft.
  14. Flight control system according to any one of claims 10 to 13,
    characterised in that it comprises a collective stick (8) as a control member for acting on the collective pitch of a main rotor, one of the control axes thus representing a collective pitch control axis of the aircraft.
  15. Flight control system according to any one of claims 10 to 14,
    characterised in that it comprises means for adjusting the level of friction force on at least one mechanical control linkage in order to optimise the piloting comfort parameter in particular of the cyclic control linkages.
  16. Flight control system according to any one of claims 10 to 15,
    characterised in that it comprises means for increasing the stability of the aircraft.
  17. Flight control system according to claim 16,
    characterised in that the means for increasing the stability comprise:
    - an actuating means having amplitude-limited authority (13) connected in series on at least one control linkage (Ct,Cr,Cc,Cl) so as to act on a movable attitude member as a function of a flight setpoint,
    - a means for determining the amplitude margin of the actuating means having amplitude-limited authority (13),
    - an indicator informing the pilot when the amplitude margin is less than a determined value and indicating to the pilot the direction of movement of the manual control member (2,8) in order to restore a sufficient amplitude margin, said indicator thus providing long-term information about attitude or trajectory control,
    - and means for restoring the amplitude margin while retaining the positioning of the movable attitude member.
  18. Flight control system according to any one of claims 10 to 17,
    characterised in that the remote control means is a switch installed on a handle (15) of the control member (2,8).
  19. Flight control system according to claim 15,
    characterised in that the means for adjusting the level of friction force are associated with a remote adjustment member provided on the control member (2,8).
  20. Simplified autopilot system for an aircraft comprising at least one computer and software means for implementing management functions of a flight control system,
    characterised in that it comprises:
    - at least one manual control member (2,8) suitable for acting on at least one control axis of the aircraft,
    - at least one mechanical control linkage (Ct,Cr,Cc,Cl) for each control axis, said linkage connecting the control member to at least one movable aircraft attitude member of the aircraft,
    - an actuating means with amplitude-limited authority (13) connected in series on at least one control linkage, so as to control the position of the movable attitude member as a function of a flight setpoint and to act if necessary on the movable attitude member to modify its position,
    - a means for determining the amplitude margin of the actuating means having amplitude-limited authority (13),
    - an indicator informing the pilot when the amplitude margin is less than a determined value and indicating to the pilot the direction of movement of the manual control member in order to restore a sufficient amplitude margin, said indicator thus providing long-term information about attitude or trajectory control,
    - means for restoring the sufficient amplitude margin while retaining the positioning of the movable attitude member,
    - and a friction device (11) in accordance with any one of claims 1 to 9.
  21. Simplified autopilot system according to claim 20,
    characterised in that the manual control member (2) is a cyclic stick, the control axes thus comprising the roll control axis (R) and the pitch control axis (T).
  22. Simplified autopilot system according to claim 20 or 21,
    characterised in that it comprises a loop for monitoring manual piloting activity and means for automatically disengaging the friction device (11) in order to disengage said friction device (11) when a determined manual piloting activity threshold is reached.
  23. Aircraft of the rotorcraft or helicopter type comprising a flight control system in accordance with any one of claims 10 to 19.
  24. Aircraft of the rotorcraft or helicopter type comprising a simplified autopilot system in accordance with any one of claims 20 to 22.
EP11003320.6A 2010-05-07 2011-04-20 Simplified flight-control system comprising a disconnectable friction device Active EP2384969B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1001973A FR2959837B1 (en) 2010-05-07 2010-05-07 SIMPLIFIED FLIGHT CONTROL SYSTEM HAVING A DEBRASABLE FRICTION DEVICE

Publications (3)

Publication Number Publication Date
EP2384969A2 EP2384969A2 (en) 2011-11-09
EP2384969A3 EP2384969A3 (en) 2014-11-26
EP2384969B1 true EP2384969B1 (en) 2015-11-11

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ID=43414288

Family Applications (1)

Application Number Title Priority Date Filing Date
EP11003320.6A Active EP2384969B1 (en) 2010-05-07 2011-04-20 Simplified flight-control system comprising a disconnectable friction device

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US (1) US8886370B2 (en)
EP (1) EP2384969B1 (en)
FR (1) FR2959837B1 (en)

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US11682535B2 (en) 2021-03-12 2023-06-20 Essex Industries, Inc. Rocker switch
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Also Published As

Publication number Publication date
EP2384969A3 (en) 2014-11-26
US8886370B2 (en) 2014-11-11
EP2384969A2 (en) 2011-11-09
FR2959837B1 (en) 2012-05-04
FR2959837A1 (en) 2011-11-11
US20110276202A1 (en) 2011-11-10

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